OpenRaiser/Intern-Atlas huggingface dataset:
Proc3D: Procedural 3D Generation and Parametric Editing of 3D Shapes with Large Language Models
Venue: arXiv cs.GR 2026
Year: 2026

Generating 3D models has traditionally been a complex task requiring specialized expertise. While recent advances in generative AI have sought to automate this process, existing methods produce non-editable representation, such as meshes or point clouds, limiting their adaptability for iterative design. In this paper, we introduce Proc3D, a system designed to generate editable 3D models while enabling real-time modifications. At its core, Proc3D introduces procedural compact graph (PCG), a graph representation of 3D models, that encodes the algorithmic rules and structures necessary for generating the model. This representation exposes key parameters, allowing intuitive manual adjustments via sliders and checkboxes, as well as real-time, automated modifications through natural language prompts using Large Language Models (LLMs). We demonstrate Proc3D's capabilities using two generative approaches: GPT-4o with in-context learning (ICL) and a fine-tuned LLAMA-3 model. Experimental results show that Proc3D outperforms existing methods in editing efficiency, achieving more than 400x speedup over conventional approaches that require full regeneration for each modification. Additionally, Proc3D improves ULIP scores by 28%, a metric that evaluates the alignment between generated 3D models and text prompts. By enabling text-aligned 3D model generation along with precise, real-time parametric edits, Proc3D facilitates highly accurate text-based image editing applications.
Environment-Aware Code Generation: How far are We?
Venue: arXiv cs.SE 2026
Year: 2026

Recent progress in large language models (LLMs) has improved code generation, but most evaluations still test isolated, small-scale code (e.g., a single function) under default or unspecified software environments. As a result, it is unclear whether LLMs can reliably generate executable code tailored to a user's specific environment. We present the first systematic study of Environment-Aware Code Generation (EACG), where generated code must be functionally correct and directly executable under arbitrary software configurations. To enable realistic evaluation, we introduce VersiBCB, a benchmark that is multi-package, execution-verified, and deprecation-aware, capturing complex and evolving environments that prior datasets often overlook. Using VersiBCB, we investigate three complementary adaptation axes: data, parameters, and cache, and develop representative strategies for each. Our results show that current LLMs struggle with environment-specific code generation, while our adaptations improve environment compatibility and executability. These findings highlight key challenges and opportunities for deploying LLMs in practical software engineering workflows.
SplittingSecrets: A Compiler-Based Defense for Preventing Data Memory-Dependent Prefetcher Side-Channels
Venue: arXiv cs.CR 2026
Year: 2026

Traditional side-channels take advantage of secrets being used as inputs to unsafe instructions, used for memory accesses, or used in control flow decisions. Constant-time programming, which restricts such code patterns, has been widely adopted as a defense against these vulnerabilities. However, new hardware optimizations in the form of Data Memory-dependent Prefetchers (DMP) present in Apple, Intel, and ARM CPUs have shown such defenses are not sufficient. These prefetchers, unlike classical prefetchers, use the content of memory as well as the trace of prior accesses to determine prefetch targets. An adversary abusing such a prefetcher has been shown to be able to mount attacks leaking data-at-rest; data that is never used by the program, even speculatively, in an unsafe manner. In response, this paper introduces SplittingSecrets, a compiler-based tool that can harden software libraries against side-channels arising from DMPs. SplittingSecrets's approach avoids reasoning about the complex internals of different DMPs and instead relies on one key aspect of all DMPs: activation requires data to resemble addresses. To prevent secret data from leaking, SplittingSecrets transforms memory operations to ensure that secrets are never stored in memory in a manner resembling an address, thereby avoiding DMP activation on those secrets. Rather than disable a DMP entirely, SplittingSecrets can provide targeted hardening for only specific secrets entirely in software. We have implemented SplittingSecrets using LLVM, supporting both source-level memory operations and those generated by the compiler backend for the AArch64 architecture, We have analyzed the performance overhead involved in safeguarding secrets from DMP-induced attacks using common primitives in libsodium, a popular cryptographic library when built for Apple M-series CPUs.
HCFT: Hierarchical Convolutional Fusion Transformer for EEG Decoding
Venue: arXiv cs.HC 2026
Year: 2026

Electroencephalography (EEG) decoding requires models that can effectively extract and integrate complex temporal, spectral, and spatial features from multichannel signals. To address this challenge, we propose a lightweight and generalizable decoding framework named Hierarchical Convolutional Fusion Transformer (HCFT), which combines dual-branch convolutional encoders and hierarchical Transformer blocks for multi-scale EEG representation learning. Specifically, the model first captures local temporal and spatiotemporal dynamics through time-domain and time-space convolutional branches, and then aligns these features via a cross-attention mechanism that enables interaction between branches at each stage. Subsequently, a hierarchical Transformer fusion structure is employed to encode global dependencies across all feature stages, while a customized Dynamic Tanh normalization module is introduced to replace traditional Layer Normalization in order to enhance training stability and reduce redundancy. Extensive experiments are conducted on two representative benchmark datasets, BCI Competition IV-2b and CHB-MIT, covering both event-related cross-subject classification and continuous seizure prediction tasks. Results show that HCFT achieves 80.83% average accuracy and a Cohen's kappa of 0.6165 on BCI IV-2b, as well as 99.10% sensitivity, 0.0236 false positives per hour, and 98.82% specificity on CHB-MIT, consistently outperforming over ten state-of-the-art baseline methods. Ablation studies confirm that each core component of the proposed framework contributes significantly to the overall decoding performance, demonstrating HCFT's effectiveness in capturing EEG dynamics and its potential for real-world BCI applications.
How Safe Is Your Data in Connected and Autonomous Cars: A Consumer Advantage or a Privacy Nightmare ?
Venue: arXiv cs.CY 2026
Year: 2026

The rapid evolution of the automobile sector, driven by advancements in connected and autonomous vehicles (CAVs), has transformed how vehicles communicate, operate, and interact with their surroundings. Technologies such as Vehicle-to-Everything (V2X) communication enable autonomous cars to generate and exchange substantial amounts of data with real-world entities, enhancing safety, improving performance, and delivering personalized user experiences. However, this data-driven ecosystem introduces significant challenges, particularly concerning data privacy, security, and governance. The absence of transparency and comprehensive regulatory frameworks exacerbates issues of unauthorized data access, prolonged retention, and potential misuse, creating tension between consumer benefits and privacy risks. This review paper explores the multifaceted nature of data sharing in CAVs, analyzing its contributions to innovation and its associated vulnerabilities. It evaluates data-sharing mechanisms and communication technologies, highlights the benefits of data exchange across various use cases, examines privacy concerns and risks of data misuse, and critically reviews regulatory frameworks and their inadequacies in safeguarding user privacy. By providing a thorough analysis of the current state of data sharing in the automotive sector, the paper emphasizes the urgent need for robust policies and ethical data management practices. It calls for striking a balance between fostering technological advancements and ensuring secure, consumer-friendly solutions, paving the way for a trustworthy and innovative automotive future.
OpenNavMap: Structure-Free Topometric Mapping via Large-Scale Collaborative Localization
Venue: arXiv cs.RO 2026
Year: 2026

Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping enhances efficiency, traditional structure-based methods struggle with high maintenance costs and fail in feature-less environments or under significant viewpoint changes typical of crowd-sourced data. To address this, we propose OPENNAVMAP, a lightweight, structure-free topometric system leveraging 3D geometric foundation models for on-demand reconstruction. Our method unifies dynamic programming-based sequence matching, geometric verification, and confidence-calibrated optimization to robust, coarse-to-fine submap alignment without requiring pre-built 3D models. Evaluations on the Map-Free benchmark demonstrate superior accuracy over structure-from-motion and regression baselines, achieving an average translation error of 0.62m. Furthermore, the system maintains global consistency across 15km of multi-session data with an absolute trajectory error below 3m for map merging. Finally, we validate practical utility through 12 successful autonomous image-goal navigation tasks on simulated and physical robots. Code and datasets will be publicly available in https://rpl-cs-ucl.github.io/OpenNavMap_page.
CD-PIM: A High-Bandwidth and Compute-Efficient LPDDR5-Based PIM for Low-Batch LLM Acceleration on Edge-Device
Venue: arXiv cs.AR 2026
Year: 2026

Edge deployment of low-batch large language models (LLMs) faces critical memory bandwidth bottlenecks when executing memory-intensive general matrix-vector multiplications (GEMV) operations. While digital processing-in-memory (PIM) architectures promise to accelerate GEMV operations, existing PIM-equipped edge devices still suffer from three key limitations: limited bandwidth improvement, component under-utilization in mixed workloads, and low compute capacity of computing units (CUs). In this paper, we propose CD-PIM to address these challenges through three key innovations. First, we introduce a high-bandwidth compute-efficient mode (HBCEM) that enhances bandwidth by dividing each bank into four pseudo-banks through segmented global bitlines. Second, we propose a low-batch interleaving mode (LBIM) to improve component utilization by overlapping GEMV operations with GEMM operations. Third, we design a compute-efficient CU that performs enhanced GEMV operations in a pipelined manner by serially feeding weight data into the computing core. Forth, we adopt a column-wise mapping for the key-cache matrix and row-wise mapping for the value-cache matrix, which fully utilizes CU resources. Our evaluation shows that compared to a GPU-only baseline and state-of-the-art PIM designs, our CD-PIM achieves 11.42x and 4.25x speedup on average within a single batch in HBCEM mode, respectively. Moreover, for low-batch sizes, the CD-PIM achieves an average speedup of 1.12x in LBIM compared to HBCEM.
On the Minimum Length of Functional Batch Codes with Small Recovery Sets
Venue: arXiv cs.IT 2026
Year: 2026

Batch codes are of potential use for load balancing and private information retrieval in distributed data storage systems. Recently, a special case of batch codes, termed functional batch codes, was proposed in the literature. In functional batch codes, users can query linear combinations of the information symbols, and not only the information symbols themselves, as is the case for standard batch codes. In this work, we consider linear functional batch codes with the additional property that every query is answered by using only a small number of coded symbols. We derive bounds on the minimum length of such codes, and evaluate the results by numerical computations.
CurConMix+: A Unified Spatio-Temporal Framework for Hierarchical Surgical Workflow Understanding
Venue: arXiv cs.CV 2026
Year: 2026

Surgical action triplet recognition aims to understand fine-grained surgical behaviors by modeling the interactions among instruments, actions, and anatomical targets. Despite its clinical importance for workflow analysis and skill assessment, progress has been hindered by severe class imbalance, subtle visual variations, and the semantic interdependence among triplet components. Existing approaches often address only a subset of these challenges rather than tackling them jointly, which limits their ability to form a holistic understanding. This study builds upon CurConMix, a spatial representation framework. At its core, a curriculum-guided contrastive learning strategy learns discriminative and progressively correlated features, further enhanced by structured hard-pair sampling and feature-level mixup. Its temporal extension, CurConMix+, integrates a Multi-Resolution Temporal Transformer (MRTT) that achieves robust, context-aware understanding by adaptively fusing multi-scale temporal features and dynamically balancing spatio-temporal cues. Furthermore, we introduce LLS48, a new, hierarchically annotated benchmark for complex laparoscopic left lateral sectionectomy, providing step-, task-, and action-level annotations. Extensive experiments on CholecT45 and LLS48 demonstrate that CurConMix+ not only outperforms state-of-the-art approaches in triplet recognition, but also exhibits strong cross-level generalization, as its fine-grained features effectively transfer to higher-level phase and step recognition tasks. Together, the framework and dataset provide a unified foundation for hierarchy-aware, reproducible, and interpretable surgical workflow understanding. The code and dataset will be publicly released on GitHub to facilitate reproducibility and further research.
GazeFormer-MoE: Context-Aware Gaze Estimation via CLIP and MoE Transformer
Venue: arXiv cs.CV 2026
Year: 2026

We present a semantics modulated, multi scale Transformer for 3D gaze estimation. Our model conditions CLIP global features with learnable prototype banks (illumination, head pose, background, direction), fuses these prototype-enriched global vectors with CLIP patch tokens and high-resolution CNN tokens in a unified attention space, and replaces several FFN blocks with routed/shared Mixture of Experts to increase conditional capacity. Evaluated on MPIIFaceGaze, EYEDIAP, Gaze360 and ETH-XGaze, our model achieves new state of the art angular errors of 2.49°, 3.22°, 10.16°, and 1.44°, demonstrating up to a 64% relative improvement over previously reported results. ablations attribute gains to prototype conditioning, cross scale fusion, MoE and hyperparameter. Our code is publicly available at https://github. com/AIPMLab/Gazeformer.
LiQSS: Post-Transformer Linear Quantum-Inspired State-Space Tensor Networks for Real-Time 6G
Venue: arXiv cs.NI 2026
Year: 2026

Proactive and agentic control in Sixth-Generation (6G) Open Radio Access Networks (O-RAN) requires control-grade prediction under stringent Near-Real-Time (Near-RT) latency and computational constraints. While Transformer-based models are effective for sequence modeling, their quadratic complexity limits scalability in Near-RT RAN Intelligent Controller (RIC) analytics. This paper investigates a post-Transformer design paradigm for efficient radio telemetry forecasting. We propose a quantum-inspired many-body state-space tensor network that replaces self-attention with stable structured state-space dynamics kernels, enabling linear-time sequence modeling. Tensor-network factorizations in the form of Tensor Train (TT) / Matrix Product State (MPS) representations are employed to reduce parameterization and data movement in both input projections and prediction heads, while lightweight channel gating and mixing layers capture non-stationary cross-Key Performance Indicator (KPI) dependencies. The proposed model is instantiated as an agentic perceive-predict xApp and evaluated on a bespoke O-RAN KPI time-series dataset comprising 59,441 sliding windows across 13 KPIs, using Reference Signal Received Power (RSRP) forecasting as a representative use case. Our proposed Linear Quantum-Inspired State-Space (LiQSS) model is 10.8x-15.8x smaller and approximately 1.4x faster than prior structured state-space baselines. Relative to Transformer-based models, LiQSS achieves up to a 155x reduction in parameter count and up to 2.74x faster inference, without sacrificing forecasting accuracy.
$2$-quasi-perfect Lee codes and abelian Ramanujan graphs: a new construction and relationship
Venue: arXiv cs.IT 2026
Year: 2026

In this paper, we obtain a new explicit family of $2$-quasi-perfect Lee codes of arbitrarily large length. Our construction is based on generating sets of abelian (almost) Ramanujan graphs obtained by Forey, Fresán, Kowalski and Wigderson. Also, we develop a relationship between certain abelian Ramanujan graphs and $2$-quasi-perfect Lee codes obtained by Mesnager, Tang and Qi.
XR$^3$: An Extended Reality Platform for Social-Physical Human-Robot Interaction
Venue: arXiv cs.RO 2026
Year: 2026

Social-physical human-robot interaction (spHRI) is difficult to study: building and programming robots that integrate multiple interaction modalities is costly and slow, while VR-based prototypes often lack physical contact, breaking users' visuo-tactile expectations. We present XR$^3$, a co-located dual-VR-headset platform for HRI research in which an attendee and a hidden operator share the same physical space while experiencing different virtual embodiments. The attendee sees an expressive virtual robot that interacts face-to-face in a shared virtual environment. In real time, the robot's upper-body motion, head and gaze behavior, and facial expressions are mapped from the operator's tracked limbs and face signals. Because the operator is co-present and calibrated in the same coordinate frame, the operator can also touch the attendee, enabling perceived robot touch synchronized with the robot's visible hands. Finger and hand motion is mapped to the robot avatar using inverse kinematics to support precise contact. Beyond motion retargeting, XR$^3$ supports social retargeting of multiple nonverbal cues that can be experimentally varied while keeping physical interaction constant. We detail the system design and calibration, and demonstrate the platform in a touch-based Wizard-of-Oz study, lowering the barrier to prototyping and evaluating embodied, contact-based robot behaviors.
Beyond the Dirac Delta: Mitigating Diversity Collapse in Reinforcement Fine-Tuning for Versatile Image Generation
Venue: arXiv cs.LG 2026
Year: 2026

Reinforcement learning (RL) has emerged as a powerful paradigm for fine-tuning large-scale generative models, such as diffusion and flow models, to align with complex human preferences and user-specified tasks. A fundamental limitation remains \textit{the curse of diversity collapse}, where the objective formulation and optimization landscape inherently collapse the policy to a Dirac delta distribution. To address this challenge, we propose \textbf{DRIFT} (\textbf{D}ive\textbf{R}sity-\textbf{I}ncentivized Reinforcement \textbf{F}ine-\textbf{T}uning for Versatile Image Generation), an innovative framework that systematically incentivizes output diversity throughout the on-policy fine-tuning process, reconciling strong task alignment with high generation diversity to enhance versatility essential for applications that demand diverse candidate generations. We approach the problem across three representative perspectives: i) \textbf{sampling} a reward-concentrated subset that filters out reward outliers to prevent premature collapse; ii) \textbf{prompting} with stochastic variations to expand the conditioning space, and iii) \textbf{optimization} of the intra-group diversity with a potential-based reward shaping mechanism. Experimental results show that DRIFT achieves superior Pareto dominance regarding task alignment and generation diversity, yielding a $ 9.08\%\!\sim\! 43.46\%$ increase in diversity at equivalent alignment levels and a $ 59.65\% \!\sim\! 65.86\%$ increase in alignment at equivalent levels of diversity.
Counterexamples, Constructions, and Nonexistence Results for Optimal Ternary Cyclic Codes
Venue: arXiv cs.IT 2026
Year: 2026

Cyclic codes are an important subclass of linear codes with wide applications in communication systems and data storage systems. In 2013, Ding and Helleseth presented nine open problems on optimal ternary cyclic codes $\mathcal{C}_{(1,e)}$. While the first two and the sixth problems have been fully solved, others remain open. In this paper, we advance the study of the third and fourth open problems by providing the first counterexamples to both and constructing two families of optimal codes under certain conditions, thereby partially solving the third problem. Furthermore, we investigate the cyclic codes $\mathcal{C}_{(1,e)}$ where $e(3^h\pm 1)\equiv\frac{3^m-a}{2}\pmod{3^m-1}$ and $a$ is odd. For $a\equiv 3\pmod{4}$, we present two new families of optimal codes with parameters $[3^m-1,3^m-1-2m,4]$, generalizing known constructions. For $a\equiv 1\pmod{4}$, we obtain several nonexistence results on optimal codes $\mathcal{C}_{(1,e)}$ with the aforementioned parameters revealing the constraints of such codes.
Constraint-Aware Neurosymbolic Uncertainty Quantification with Bayesian Deep Learning for Scientific Discovery
Venue: arXiv cs.LG 2026
Year: 2026

Scientific Artificial Intelligence (AI) applications require models that deliver trustworthy uncertainty estimates while respecting domain constraints. Existing uncertainty quantification methods lack mechanisms to incorporate symbolic scientific knowledge, while neurosymbolic approaches operate deterministically without principled uncertainty modeling. We introduce the Constraint-Aware Neurosymbolic Uncertainty Framework (CANUF), unifying Bayesian deep learning with differentiable symbolic reasoning. The architecture comprises three components: automated constraint extraction from scientific literature, probabilistic neural backbone with variational inference, and differentiable constraint satisfaction layer ensuring physical consistency. Experiments on Materials Project (140,000+ materials), QM9 molecular properties, and climate benchmarks show CANUF reduces Expected Calibration Error by 34.7% versus Bayesian neural networks while maintaining 99.2% constraint satisfaction. Ablations reveal constraint-guided recalibration contributes 18.3% performance gain, with constraint extraction achieving 91.4% precision. CANUF provides the first end-to-end differentiable pipeline simultaneously addressing uncertainty quantification, constraint satisfaction, and interpretable explanations for scientific predictions.